Robust observer for prevention of vehicle rollover

Abstract

In this paper an approach for detecting impending rollover is proposed. The method includes an algorithm based on Takagi-Sugeno (TS) fuzzy observer to prevent rollover of the vehicle when road adhesion conditions change. To design such observer, we take into account that roll rate can be measured easily by sensor, but roll angle is not measured. The proposed method allows estimating the roll angle and the roll rate from measurable signals such as lateral acceleration yaw rate and the vehicle parameters. Performance and robustness of the estimator are evaluated through numerical simulations, using various scenarios.